AP_RPM: added AP_Generator support

useful for notch filtering of generator vibration

libraries/AP_RPM/AP_RPM.cpp

@@ -17,6 +17,7 @@
 #include "RPM_Pin.h"
 #include "RPM_SITL.h"
 #include "RPM_EFI.h"
+#include "RPM_Generator.h"
 #include "RPM_HarmonicNotch.h"
 #include "RPM_ESC_Telem.h"
 
@@ -79,6 +80,11 @@ void AP_RPM::init(void)
         case RPM_TYPE_EFI:
             drivers[i] = new AP_RPM_EFI(*this, i, state[i]);
             break;
+#endif
+#if HAL_GENERATOR_ENABLED
+        case RPM_TYPE_GENERATOR:
+            drivers[i] = new AP_RPM_Generator(*this, i, state[i]);
+            break;
 #endif
         // include harmonic notch last
         // this makes whatever process is driving the dynamic notch appear as an RPM value

libraries/AP_RPM/AP_RPM.h

@@ -42,6 +42,7 @@ public:
         RPM_TYPE_EFI     = 3,
         RPM_TYPE_HNTCH   = 4,
         RPM_TYPE_ESC_TELEM  = 5,
+        RPM_TYPE_GENERATOR  = 6,
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
         RPM_TYPE_SITL   = 10,
 #endif

libraries/AP_RPM/AP_RPM_Params.cpp

@@ -20,7 +20,7 @@ const AP_Param::GroupInfo AP_RPM_Params::var_info[] = {
     // @Param: TYPE
     // @DisplayName: RPM type
     // @Description: What type of RPM sensor is connected
-    // @Values: 0:None,1:Not Used,2:GPIO,3:EFI,4:Harmonic Notch,5:ESC Telemetry Motors Bitmask
+    // @Values: 0:None,1:Not Used,2:GPIO,3:EFI,4:Harmonic Notch,5:ESC Telemetry Motors Bitmask,6:Generator
     // @User: Standard
     AP_GROUPINFO_FLAGS("TYPE", 1, AP_RPM_Params, type, 0, AP_PARAM_FLAG_ENABLE),
     // Note, 1 was previously for type = PWM. This has been removed from docs to make setup less confusing for users.

libraries/AP_RPM/RPM_Generator.cpp

@@ -0,0 +1,38 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <AP_HAL/AP_HAL.h>
+
+#include "RPM_Generator.h"
+
+#if HAL_GENERATOR_ENABLED
+extern const AP_HAL::HAL& hal;
+
+void AP_RPM_Generator::update(void)
+{
+    const auto *generator = AP::generator();
+    if (generator == nullptr) {
+        return;
+    }
+    if (generator->healthy()) {
+        state.rate_rpm = generator->get_rpm();
+        state.rate_rpm *= ap_rpm._params[state.instance].scaling;
+        state.signal_quality = 0.5;
+    } else {
+        state.signal_quality = 0;
+    }
+}
+
+#endif // HAL_GENERATOR_ENABLED

libraries/AP_RPM/RPM_Generator.h

@@ -0,0 +1,34 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+#include "AP_RPM.h"
+#include "RPM_Backend.h"
+#include <AP_Generator/AP_Generator.h>
+
+#if HAL_GENERATOR_ENABLED
+
+class AP_RPM_Generator : public AP_RPM_Backend
+{
+public:
+    // constructor
+    using AP_RPM_Backend::AP_RPM_Backend;
+
+    // update state
+    void update(void) override;
+};
+
+#endif // HAL_GENERATOR_ENABLED
+